Abstract

This paper describes the robust optimal control algorithm for a submersible autonomous robot (SAR) to achieve the desired yaiv. Yaw rate of SAR is controlled through the design of robust state feedback optimal control law. Semi-definite programming is considered to develop the proposed robust optimal control algorithm. A linear matrix inequality (LMI) considewred in terms of linear quadratic regulator (LQR) is used to solve the control problem. A polytopic approach based robust optimal control laiv is formulated in a steering plane for SAR. For the implementation of the proposed control algorithm, YALMIP tool is used in Matlab/Simulink environment. The proposed control algorithm ensures the robust behavior by tracking the desired yaw.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.